{"id":"https://openalex.org/W3048358759","doi":"https://doi.org/10.1109/lra.2020.3015189","title":"Fiber-Reinforced Soft Bending Actuator Control Utilizing On/Off Valves","display_name":"Fiber-Reinforced Soft Bending Actuator Control Utilizing On/Off Valves","publication_year":2020,"publication_date":"2020-08-07","ids":{"openalex":"https://openalex.org/W3048358759","doi":"https://doi.org/10.1109/lra.2020.3015189","mag":"3048358759"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2020.3015189","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2020.3015189","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5100427104","display_name":"Cong Chen","orcid":"https://orcid.org/0000-0001-9510-0319"},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Cong Chen","raw_affiliation_strings":["State Key Laboratory of Fluid Power & Mechtronic Systems, School of Mechanical Engineering, Zhejiang University, Zhejiang, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Fluid Power & Mechtronic Systems, School of Mechanical Engineering, Zhejiang University, Zhejiang, China","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5085022536","display_name":"Wei Tang","orcid":"https://orcid.org/0000-0002-2018-5474"},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wei Tang","raw_affiliation_strings":["State Key Laboratory of Fluid Power & Mechtronic Systems, School of Mechanical Engineering, Zhejiang University, Zhejiang, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Fluid Power & Mechtronic Systems, School of Mechanical Engineering, Zhejiang University, Zhejiang, China","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101631296","display_name":"Yu Hu","orcid":"https://orcid.org/0000-0002-4136-4578"},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yu Hu","raw_affiliation_strings":["State Key Laboratory of Fluid Power & Mechtronic Systems, School of Mechanical Engineering, Zhejiang University, Zhejiang, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Fluid Power & Mechtronic Systems, School of Mechanical Engineering, Zhejiang University, Zhejiang, China","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5076830821","display_name":"Yangqiao Lin","orcid":"https://orcid.org/0000-0002-8231-7786"},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yangqiao Lin","raw_affiliation_strings":["State Key Laboratory of Fluid Power & Mechtronic Systems, School of Mechanical Engineering, Zhejiang University, Zhejiang, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Fluid Power & Mechtronic Systems, School of Mechanical Engineering, Zhejiang University, Zhejiang, China","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5011712654","display_name":"Jun Zou","orcid":"https://orcid.org/0000-0003-2443-3516"},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jun Zou","raw_affiliation_strings":["State Key Laboratory of Fluid Power & Mechtronic Systems, School of Mechanical Engineering, Zhejiang University, Zhejiang, China"],"raw_orcid":"https://orcid.org/0000-0003-2443-3516","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Fluid Power & Mechtronic Systems, School of Mechanical Engineering, Zhejiang University, Zhejiang, China","institution_ids":["https://openalex.org/I76130692"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I76130692"],"apc_list":null,"apc_paid":null,"fwci":1.9886,"has_fulltext":false,"cited_by_count":45,"citation_normalized_percentile":{"value":0.85871975,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":"5","issue":"4","first_page":"6732","last_page":"6739"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11608","display_name":"Dielectric materials and actuators","score":0.9944000244140625,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10338","display_name":"Advanced Sensor and Energy Harvesting Materials","score":0.983299970626831,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7389130592346191},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.7259984016418457},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.6029497981071472},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5381731390953064},{"id":"https://openalex.org/keywords/pneumatic-actuator","display_name":"Pneumatic actuator","score":0.5309920310974121},{"id":"https://openalex.org/keywords/soft-robotics","display_name":"Soft robotics","score":0.5059308409690857},{"id":"https://openalex.org/keywords/parametric-statistics","display_name":"Parametric statistics","score":0.48754188418388367},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.487109899520874},{"id":"https://openalex.org/keywords/bending","display_name":"Bending","score":0.48112478852272034},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.44334670901298523},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4335610270500183},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.35820460319519043},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.19241780042648315},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.11598250269889832},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.09807533025741577},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.09252947568893433}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7389130592346191},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.7259984016418457},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.6029497981071472},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5381731390953064},{"id":"https://openalex.org/C170401851","wikidata":"https://www.wikidata.org/wiki/Q1965061","display_name":"Pneumatic actuator","level":3,"score":0.5309920310974121},{"id":"https://openalex.org/C2776058767","wikidata":"https://www.wikidata.org/wiki/Q24327151","display_name":"Soft robotics","level":3,"score":0.5059308409690857},{"id":"https://openalex.org/C117251300","wikidata":"https://www.wikidata.org/wiki/Q1849855","display_name":"Parametric statistics","level":2,"score":0.48754188418388367},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.487109899520874},{"id":"https://openalex.org/C87210426","wikidata":"https://www.wikidata.org/wiki/Q1072476","display_name":"Bending","level":2,"score":0.48112478852272034},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.44334670901298523},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4335610270500183},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.35820460319519043},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.19241780042648315},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.11598250269889832},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.09807533025741577},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.09252947568893433},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2020.3015189","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2020.3015189","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G175043690","display_name":null,"funder_award_id":"51875507","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G4797842968","display_name":null,"funder_award_id":"51821093","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":35,"referenced_works":["https://openalex.org/W1558770978","https://openalex.org/W1902605501","https://openalex.org/W1990042683","https://openalex.org/W2000875278","https://openalex.org/W2060796260","https://openalex.org/W2071345726","https://openalex.org/W2088288066","https://openalex.org/W2142544090","https://openalex.org/W2162556257","https://openalex.org/W2171310383","https://openalex.org/W2512635237","https://openalex.org/W2560730116","https://openalex.org/W2566038826","https://openalex.org/W2577610181","https://openalex.org/W2610150749","https://openalex.org/W2618733545","https://openalex.org/W2621263557","https://openalex.org/W2727982974","https://openalex.org/W2736778426","https://openalex.org/W2750248357","https://openalex.org/W2762386358","https://openalex.org/W2767896580","https://openalex.org/W2770049904","https://openalex.org/W2782435507","https://openalex.org/W2783608040","https://openalex.org/W2802271488","https://openalex.org/W2886334707","https://openalex.org/W2891652710","https://openalex.org/W2907381061","https://openalex.org/W2908901353","https://openalex.org/W2938361870","https://openalex.org/W2947665220","https://openalex.org/W2965994465","https://openalex.org/W6685510970","https://openalex.org/W6766211077"],"related_works":["https://openalex.org/W2966243206","https://openalex.org/W2349923693","https://openalex.org/W2773810465","https://openalex.org/W2123055169","https://openalex.org/W1978574942","https://openalex.org/W2619747063","https://openalex.org/W1502247793","https://openalex.org/W2191403106","https://openalex.org/W4224212509","https://openalex.org/W1821679985"],"abstract_inverted_index":{"Soft":[0],"fluid-driven":[1,44],"robots":[2],"have":[3],"great":[4,58],"potential":[5],"for":[6,12],"safe":[7],"interaction":[8],"with":[9,19,142],"humans,":[10],"and":[11,16,32,37,41,55,63,86,118,146,160],"adaptation":[13],"to":[14,60,137],"complex":[15,30],"unpredictable":[17],"environments":[18],"the":[20,28,42,48,77,87,100,113,119,139,150,154],"compliance":[21],"brought":[22],"about":[23],"by":[24,75,94],"soft":[25,39,53,82],"materials.":[26],"However,":[27],"respective":[29],"structure":[31],"massive":[33],"use":[34],"of":[35,52,80,90,104,121,156,163],"nonlinear":[36,43,49,78,88,101,122],"viscoelastic":[38],"materials,":[40],"dynamics,":[45],"result":[46],"in":[47],"dynamic":[50,64,102],"behavior":[51,79,103],"robots,":[54],"thus":[56],"pose":[57],"challenges":[59],"system":[61,92,124,140],"modeling":[62,158],"control.":[65],"In":[66],"this":[67],"study,":[68],"a":[69,143],"complete":[70],"model":[71],"is":[72,106,135],"first":[73,107],"established":[74],"considering":[76],"fiber-reinforced":[81],"bending":[83],"actuator":[84],"(FRSBA)":[85],"dynamics":[89],"pneumatic":[91,123],"regulated":[93],"two":[95],"high-speed":[96],"on/off":[97],"valves.":[98],"Notably,":[99],"FRSBA":[105],"identified":[108],"as":[109],"parametric":[110],"uncertainties":[111],"using":[112],"multi-sine":[114],"pressure":[115],"excitation":[116],"signal,":[117],"effects":[120],"are":[125],"fully":[126],"taken":[127],"into":[128],"account.":[129],"Then,":[130],"an":[131],"adaptive":[132,164],"robust":[133,165],"controller":[134,166],"designed":[136],"handle":[138],"nonlinearities":[141],"guaranteed":[144],"transient":[145],"steady-state":[147],"performance.":[148],"Finally,":[149],"comparative":[151],"experiments":[152],"demonstrate":[153],"effectiveness":[155],"proposed":[157],"method":[159],"high":[161],"performance":[162]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":12},{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":8},{"year":2022,"cited_by_count":14},{"year":2021,"cited_by_count":5}],"updated_date":"2026-07-23T08:03:31.855105","created_date":"2025-10-10T00:00:00"}